PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/pallet_full/model.sdf

<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="pallet full">
    <pose>0 0 1  0 0 0</pose>
    <static>false</static>
    <self_collide>true</self_collide>
    <allow_auto_disable>true</allow_auto_disable>

    <!-- Pallet dimensions: 120 x 80 x 14.7 cm-->
    <include>
      <uri>model://europallet</uri>
      <name>pallet</name>
      <pose>0 0 0  0 0 0</pose>
    </include>
	
	<!-- Small Box dimensions: 40 x 24 x 18 cm-->
	
	<!-- First level of boxes -->
    <include>
      <uri>model://small_box</uri>
      <name>small_box_1_lvl_1</name>
      <pose>0.40 -0.24 0.172  0 0 0</pose>
      <static>true</static>
    </include>
    
	<include>
      <uri>model://small_box</uri>
      <name>small_box_2_lvl_1</name>
      <pose>0.40 0 0.172  0 0 0</pose>
      <static>true</static>
    </include>
	
	<include>
      <uri>model://small_box</uri>
      <name>small_box_3_lvl_1</name>
      <pose>0.40 0.24 0.172  0 0 0</pose>
    </include>
	
	<include>
      <uri>model://small_box</uri>
      <name>small_box_4_lvl_1</name>
      <pose>0 -0.24 0.172  0 0 0</pose>
    </include>
    
	<include>
      <uri>model://small_box</uri>
      <name>small_box_5_lvl_1</name>
      <pose>0 0 0.172  0 0 0</pose>
    </include>
	
	<include>
      <uri>model://small_box</uri>
      <name>small_box_6_lvl_1</name>
      <pose>0 0.24 0.172  0 0 0</pose>
    </include>
	
	<include>
      <uri>model://small_box</uri>
      <name>small_box_7_lvl_1</name>
      <pose>-0.40 -0.24 0.172  0 0 0</pose>
    </include>
    
	<include>
      <uri>model://small_box</uri>
      <name>small_box_8_lvl_1</name>
      <pose>-0.40 0 0.172  0 0 0</pose>
    </include>
	
	<include>
      <uri>model://small_box</uri>
      <name>small_box_9_lvl_1</name>
      <pose>-0.40 0.24 0.172  0 0 0</pose>
    </include>
	
	
	<!-- Second level of boxes -->
    <include>
      <uri>model://small_box</uri>
      <name>small_box_1_lvl_2</name>
      <pose>0.40 -0.24 0.353  0 0 0</pose>
    </include>
    
	<include>
      <uri>model://small_box</uri>
      <name>small_box_2_lvl_2</name>
      <pose>0.40 0 0.353  0 0 0</pose>
    </include>
	
	<include>
      <uri>model://small_box</uri>
      <name>small_box_3_lvl_2</name>
      <pose>0.40 0.24 0.353  0 0 0</pose>
    </include>
	
	<include>
      <uri>model://small_box</uri>
      <name>small_box_4_lvl_2</name>
      <pose>0 -0.24 0.353  0 0 0</pose>
    </include>
    
	<include>
      <uri>model://small_box</uri>
      <name>small_box_5_lvl_2</name>
      <pose>0 0 0.353  0 0 0</pose>
    </include>
	
	<include>
      <uri>model://small_box</uri>
      <name>small_box_6_lvl_2</name>
      <pose>0 0.24 0.353  0 0 0</pose>
    </include>
	
	<include>
      <uri>model://small_box</uri>
      <name>small_box_7_lvl_2</name>
      <pose>-0.40 -0.24 0.353  0 0 0</pose>
    </include>
    
	<include>
      <uri>model://small_box</uri>
      <name>small_box_8_lvl_2</name>
      <pose>-0.40 0 0.353  0 0 0</pose>
    </include>
	
	<include>
      <uri>model://small_box</uri>
      <name>small_box_9_lvl_2</name>
      <pose>-0.40 0.24 0.353  0 0 0</pose>
    </include>
	
	
	<!-- Third level of boxes -->
    <include>
      <uri>model://small_box</uri>
      <name>small_box_1_lvl_3</name>
      <pose>0.40 -0.24 0.534  0 0 0</pose>
    </include>
    
	<include>
      <uri>model://small_box</uri>
      <name>small_box_2_lvl_3</name>
      <pose>0.40 0 0.534  0 0 0</pose>
    </include>
	
	<include>
      <uri>model://small_box</uri>
      <name>small_box_3_lvl_3</name>
      <pose>0.40 0.24 0.534  0 0 0</pose>
    </include>
	
	<include>
      <uri>model://small_box</uri>
      <name>small_box_4_lvl_3</name>
      <pose>0 -0.24 0.534  0 0 0</pose>
    </include>
    
	<include>
      <uri>model://small_box</uri>
      <name>small_box_5_lvl_3</name>
      <pose>0 0 0.534  0 0 0</pose>
    </include>
	
	<include>
      <uri>model://small_box</uri>
      <name>small_box_6_lvl_3</name>
      <pose>0 0.24 0.534  0 0 0</pose>
    </include>
	
	<include>
      <uri>model://small_box</uri>
      <name>small_box_7_lvl_3</name>
      <pose>-0.40 -0.24 0.534  0 0 0</pose>
    </include>
    
	<include>
      <uri>model://small_box</uri>
      <name>small_box_8_lvl_3</name>
      <pose>-0.40 0 0.534  0 0 0</pose>
    </include>
	
	<include>
      <uri>model://small_box</uri>
      <name>small_box_9_lvl_3</name>
      <pose>-0.40 0.24 0.534  0 0 0</pose>
      <static>true</static>
    </include>
	
	
  </model>
</sdf>